Provably-correct coordination of large collections of agents with counting temporal logic constraints

• Published in: 2017 ACM IEEE 8th International Conference on Cyber Physical Systems (ICCPS) pp. 249 - 258
• Main Authors: Sahin, Yunus Emre, Nilsson, Petter, Ozay, Necmiye
• Format: Conference Proceeding
• Language: English
• Published: New York, NY, USA ACM 18.04.2017
• Series: ACM Other Conferences
• Subjects: Computer science; Computer systems organization > Embedded and cyber-physical systems > Robotics > Robotic autonomy; Computing methodologies > Artificial intelligence > Control methods > Motion path planning; Computing methodologies > Artificial intelligence > Planning and scheduling > Multi-agent planning; Computing methodologies > Artificial intelligence > Planning and scheduling > Planning for deterministic actions; Correct-by-construction synthesis; Cyber-physical systems; Electrical engineering; Planning; Robot kinematics; Theory of computation > Logic > Abstraction; Theory of computation > Logic > Modal and temporal logics; Vehicle dynamics; correct-by-construction synthesis
• ISBN: 9781450349659; 145034965X
• DOI: 10.1145/3055004.3055021

In this paper, we consider the problem of coordinating a large collection of homogeneous agents subject to a novel class of constraints: counting temporal logic constraints. Counting constraints arise naturally in many multi-agent planning problems where the identity of the agents is not important for the task to be completed. We introduce a formal language to capture such tasks and present an optimization-based technique to synthesize plans for large collections of agents in a way to guarantee the satisfaction of tasks specified in this formalism.